// Copyright (c) 2009, Willow Garage, Inc.
//
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// modification, are permitted provided that the following conditions are met:
//
//    * Redistributions of source code must retain the above copyright
//      notice, this list of conditions and the following disclaimer.
//
//    * Redistributions in binary form must reproduce the above copyright
//      notice, this list of conditions and the following disclaimer in the
//      documentation and/or other materials provided with the distribution.
//
//    * Neither the name of the Willow Garage nor the names of its
//      contributors may be used to endorse or promote products derived from
//      this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#include "image_transport/single_subscriber_publisher.hpp"

#include <string>

#include "sensor_msgs/msg/image.hpp"

#include "image_transport/publisher.hpp"

namespace image_transport
{

SingleSubscriberPublisher::SingleSubscriberPublisher(
  const std::string & caller_id, const std::string & topic,
  const GetNumSubscribersFn & num_subscribers_fn,
  const PublishFn & publish_fn)
: caller_id_(caller_id), topic_(topic),
  num_subscribers_fn_(num_subscribers_fn),
  publish_fn_(publish_fn)
{
}

std::string SingleSubscriberPublisher::getSubscriberName() const
{
  return caller_id_;
}

std::string SingleSubscriberPublisher::getTopic() const
{
  return topic_;
}

size_t SingleSubscriberPublisher::getNumSubscribers() const
{
  return num_subscribers_fn_();
}

void SingleSubscriberPublisher::publish(const sensor_msgs::msg::Image & message) const
{
  publish_fn_(message);
}

void SingleSubscriberPublisher::publish(const sensor_msgs::msg::Image::ConstSharedPtr & message)
const
{
  publish_fn_(*message);
}

}  // namespace image_transport
